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Agents not smear Dirt

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steffen-illium
2021-07-13 17:12:01 +02:00
parent 01e7b752b8
commit 4841336e31
6 changed files with 47 additions and 31 deletions
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34
environments/factory/simple_factory.py
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@ -3,9 +3,8 @@ import random
import numpy as np
from environments import helpers as h
from environments.helpers import Constants as c
from environments import helpers as h
from environments.factory.base.base_factory import BaseFactory
from environments.factory.base.objects import Agent, Action, Object, Slice
from environments.factory.base.registers import Entities
@ -18,12 +17,13 @@ CLEAN_UP_ACTION = 'clean_up'
class DirtProperties(NamedTuple):
clean_amount: int = 2 # How much does the robot clean with one actions.
max_spawn_ratio: float = 0.2 # On max how much tiles does the dirt spawn in percent.
gain_amount: float = 0.5 # How much dirt does spawn per tile
spawn_frequency: int = 5 # Spawn Frequency in Steps
max_local_amount: int = 1 # Max dirt amount per tile.
max_global_amount: int = 20 # Max dirt amount in the whole environment.
clean_amount: int = 1 # How much does the robot clean with one actions.
max_spawn_ratio: float = 0.2 # On max how much tiles does the dirt spawn in percent.
gain_amount: float = 0.3 # How much dirt does spawn per tile
spawn_frequency: int = 5 # Spawn Frequency in Steps
max_local_amount: int = 2 # Max dirt amount per tile.
max_global_amount: int = 20 # Max dirt amount in the whole environment.
dirt_smear_amount: float = 0.2 # Agents smear dirt, when not cleaning up in place
# noinspection PyAttributeOutsideInit
@ -116,6 +116,17 @@ class SimpleFactory(BaseFactory):
return False
def post_step(self) -> dict:
if smear_amount := self.dirt_properties.dirt_smear_amount:
dirt_slice = self._slices.by_name(DIRT).slice
for agent in self._agents:
if agent.temp_valid and agent.last_pos != h.NO_POS:
if dirt := dirt_slice[agent.last_pos]:
if smeared_dirt := round(dirt * smear_amount, 2):
dirt_slice[agent.last_pos] = max(0, dirt_slice[agent.last_pos]-smeared_dirt)
dirt_slice[agent.pos] = min((self.dirt_properties.max_local_amount,
dirt_slice[agent.pos] + smeared_dirt)
)
if not self._next_dirt_spawn:
self.spawn_dirt()
self._next_dirt_spawn = self.dirt_properties.spawn_frequency
@ -170,6 +181,7 @@ class SimpleFactory(BaseFactory):
reward -= 0.01
self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
info_dict.update({f'{agent.name}_failed_action': 1})
info_dict.update({f'{agent.name}_failed_action': 1})
info_dict.update({f'{agent.name}_failed_dirt_cleanup': 1})
elif self._actions.is_moving_action(agent.temp_action):
@ -210,11 +222,11 @@ class SimpleFactory(BaseFactory):
if __name__ == '__main__':
render = False
render = True
move_props = MovementProperties(allow_diagonal_movement=True, allow_square_movement=True)
dirt_props = DirtProperties()
factory = SimpleFactory(movement_properties=move_props, dirt_properties=dirt_props, n_agents=10,
dirt_props = DirtProperties(dirt_smear_amount=0.2)
factory = SimpleFactory(movement_properties=move_props, dirt_properties=dirt_props, n_agents=1,
combin_agent_slices_in_obs=False, level_name='rooms', parse_doors=True,
pomdp_radius=3)